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Guilhem Saurel
test-hpp
Commits
ac370fef
Commit
ac370fef
authored
Nov 17, 2014
by
Joseph Mirabel
Committed by
Joseph Mirabel
Nov 18, 2014
Browse files
Update script test_graph_two_hands
parent
ee4db6bb
Changes
1
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Inline
Side-by-side
script/test_graph_two_hands.py
View file @
ac370fef
...
...
@@ -5,8 +5,7 @@ robot = Robot ('pr2', rootJointType = "anchor")
robot
.
client
.
manipulation
.
robot
.
setRootJointPosition
(
'pr2'
,
(
-
3.2
,
-
4
,
0
,
1
,
0
,
0
,
0
))
robot
.
loadObjectModel
(
'box'
,
'freeflyer'
,
'hpp_tutorial'
,
'box'
,
''
,
''
)
robot
.
buildCompositeRobot
(
'pr2-box'
,
[
'pr2'
,
'box'
])
robot
.
client
.
basic
.
obstacle
.
loadObstacleModel
(
"iai_maps"
,
"kitchen_area"
,
""
)
robot
.
client
.
manipulation
.
robot
.
loadEnvironmentModel
(
"iai_maps"
,
"kitchen_area"
,
''
,
''
,
""
)
robot
.
setJointBounds
(
"box/base_joint_xyz"
,
[
-
3
,
-
2
,
-
5
,
-
3
,
0.7
,
1
])
from
hpp_ros.manipulation
import
ScenePublisher
...
...
@@ -49,17 +48,8 @@ robot.client.basic.problem.setMaxIterations (40)
from
hpp.corbaserver.manipulation
import
ProblemSolver
p
=
ProblemSolver
(
robot
)
h
=
0.05
/
2
;
bds
=
[
-
3.1
,
-
1.9
,
-
5.1
,
-
2.9
]
l
=
0.76
-
h
pts
=
[[
-
h
,
-
h
,
-
h
],
[
-
h
,
h
,
-
h
],
[
-
h
,
-
h
,
h
],
[
-
h
,
h
,
h
],
[
h
,
-
h
,
-
h
],
[
h
,
h
,
-
h
],
[
h
,
-
h
,
h
],
[
h
,
h
,
h
],
[
bds
[
0
],
bds
[
2
],
l
],[
bds
[
0
],
bds
[
3
],
l
],[
bds
[
1
],
bds
[
2
],
l
],[
bds
[
1
],
bds
[
3
],
l
]]
oTri
=
[[
0
,
2
,
1
],
[
4
,
5
,
6
]]
tTri
=
[[
8
,
9
,
10
],
[
9
,
11
,
10
]]
robot
.
client
.
basic
.
problem
.
createStaticStabilityGravityConstraint
(
'box_placement'
,
'box/base_joint_SO3'
,
pts
,
oTri
,
tTri
)
robot
.
client
.
manipulation
.
problem
.
createPlacementConstraint
(
'box_placement'
,
'box'
,
'box/base_joint_SO3'
,
'box_surface'
,
'pancake_table_table_top'
)
p
.
createGrasp
(
'l_grasp'
,
'pr2/l_gripper'
,
'box/handle'
)
p
.
createGrasp
(
'l_grasp_passive'
,
'pr2/l_gripper'
,
'box/handle'
)
...
...
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